Moved geometry transformations from imgproc to 3d, future geometry module #29101
The first step of 2d geometry operations migration to the future geometry module.
I created 2d.hpp to isolate the moved functions for now. I propose to create geometry.hpp when the module is renamed and include all things there.
OpenCV contrib: https://github.com/opencv/opencv_contrib/pull/4126
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Update ArUco doc #28824
See https://github.com/opencv/opencv/pull/28823
Update of the ArUco doc but targeted for OpenCV 4.
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imgproc: add findTRUContours - lock-free parallel contour extraction #28773
Integrates the TRUCO algorithm (Threaded Raster Unrestricted Contour Ownership, @cite TRUCO2026) as a transparent fast path inside `cv::findContours`. No API change is required: existing code automatically benefits when `mode=RETR_LIST` and no hierarchy output is requested.
### How it works
When `mode=RETR_LIST` and the caller does not request hierarchy, `findContours` delegates to the TRUCO parallel engine instead of Suzuki-Abe. All ContourApproximationModes are supported; approximation is applied in parallel after extraction. In all other cases the original Suzuki-Abe path is used unchanged.
### Key design ideas
- Row-strip domain decomposition parallelised via `cv::parallel_for_`
- Start-point ownership rule + speculative downward tracing eliminate tile stitching and synchronisation primitives (lock-free)
- 8-bit state space instead of the 32-bit integer labeling required by Suzuki-Abe, giving higher SIMD throughput and lower memory-bandwidth pressure
- Paged contour buffer (`TRUCOPagedContour`) avoids heap reallocation on the hot tracing path
- SIMD-accelerated row scanning via `cv::v_uint8` intrinsics
- Thread count controlled globally via `cv::setNumThreads()`, consistent with OpenCV conventions
### Output correctness
Significant effort has gone into ensuring the output is identical to the original `findContours` in every respect: same contour set, same ordering, and same approximation results for all methods. A dedicated test suite (`test_contours_truco.cpp`) verifies exact match against Suzuki-Abe across all four `ContourApproximationModes` and thread counts from 1 to 39, using noise images, circles, nested rectangles, and mixed scenes.
### Performance vs. Suzuki-Abe (from submitted paper)
- single-thread: ~1.8–1.9× faster (8-bit SIMD advantage)
- 20 threads: ~14–20× faster on i7-13700H (6P+8E, 20T)
- 20 threads: ~10–12× faster on Xeon Silver 4510 (12C/24T)
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Add ARMPL support for DFT Function #28664
- This PR introduces hal/armpl/ with implementation of 1D, 2D DFT and DCT routines using ARM Performance Libraries as a custom HAL replacement for OpenCV's DFT & DCT Function.
- ArmPL MSI package is automatically downloaded and extracted via CMake when building on Windows ARM64, with a WITH_ARMPL option that defaults to ON for that platform.
- Forward and inverse real DFT calls in dxt.cpp are routed through ArmPL when available, with scaling applied only when needed.
- Test error thresholds in test_dxt.cpp are relaxed (from 1e-5 to 2e-4 for float ) to account for numerical differences between ArmPL and OpenCV's reference DFT results.
**Performance Benchmarks :**
<img width="993" height="835" alt="image" src="https://github.com/user-attachments/assets/76def647-6d20-4bce-8bc9-7363e723669f" />
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Added custom layer support in new DNN engine #28963
Closes: https://github.com/opencv/opencv/issues/26200
Merge with: https://github.com/opencv/opencv_extra/pull/1358
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update default ONNX Runtime version to 1.25.1 #28969
Bump ONNX Runtime default version to latest version: 1.25.1
Includes the following update:
https://github.com/microsoft/onnxruntime/pull/27164 : Adds LpNormalization opset-22 kernel support missing in 1.24.2.
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doc: modernize Doxygen comments to support for v1.15.0 #28903
This PR addresses several documentation build failures encountered with modern Doxygen versions, particularly v1.15.0 (shipped with Ubuntu 26.04).
- flann module: Updated license headers from /**** to /*M****. This prevents Doxygen from misinterpreting the license text (specifically the unclosed backticks in ``AS IS'') as documentation blocks, which previously caused "Reached end of file" errors.
- core module: Fixed a typo in operations.hpp where a doubled backtick (``) caused parsing to fail.
- tutorials: Fixed a missing backtick in real_time_pose.markdown (around line 108) and corrected typos in the RobustMatcher class name.
- Links: Resolved explicit link request failures in calib3d.hpp by ensuring proper namespace resolution.
These fixes ensure that the documentation can be generated without errors on the latest toolchains.
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Added OnnxRuntime GPU wrapper #28588
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Optimize calibrateCamera with Schur‑complement LM and parallel Jacobian accumulation #28461
## Summary
- Optimized `calibrateCamera` for faster runtime without changing outputs using Schur‑complement LM, Parallel Jacobian accumulation, alongside other optimizations.
- Reduced time complexity from O(n^3) to O(n)
- Add a perf test that uses a 500-image chessboard dataset for performance testing.
## Performance
<img width="1200" height="800" alt="base_vs_fast_results" src="https://github.com/user-attachments/assets/6dafa19f-f9cb-4f7f-ba40-0940373712e8" />
<img width="1200" height="800" alt="fast_vs_ceres_results" src="https://github.com/user-attachments/assets/7157af27-8a2b-4810-8b53-3cc9972a8493" />
<img width="1200" height="800" alt="base_vs_fast_param_deviation" src="https://github.com/user-attachments/assets/fe4f954c-34f9-4b9a-b1b2-46e4c76ce08c" />
[Testing repo
](https://github.com/Ron12777/OpenCV-benchmarking)
## Testing
- All local tests pass
## Related
- [opencv_extra PR with test images](https://github.com/opencv/opencv_extra/pull/1312)
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The tutorial code used cv.NORM_L2 (which takes a square root) and then
averaged those values. The correct RMSE formula should use NORM_L2SQR
to get squared errors, average them, and take the square root at the
end. Updated the explanatory text to match.
Fixes https://github.com/opencv/opencv/issues/28651
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## This tutorial describe how to build opencv from source in windows using VSCode and MSYS2
Added ONNX Runtime as an optional wrapper #28444
This PR adds ONNXRuntime (ORT) as an _optional_ wrapper, which can be enabled by adding **WITH_ONNXRUNTIME** flag in CMake command.
Using ORT wrapper the inference time for _resnet50.onnx model_ has come to _**~7ms**_ from _**~14ms**_.
Also, we are able to run models like `ssd_mobilenet_v1.onnx`.
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docs(calib3d): fix grammar and clarify radial distortion formula in camera calibration tutorial #28422
This PR improves the camera calibration tutorial documentation by:
- Fixing minor grammatical issues for better readability.
- Clarifying the radial distortion model by explicitly defining r² = x² + y².
These changes do not affect functionality and are intended to make the mathematical explanation clearer for readers and new users.
doc: update image codec configuration reference (add AVIF, fix JPEG XL) #28393
This PR updates the build configuration documentation to:
- Add AVIF to the supported format list (it was missing).
- Clarify that some codecs (AVIF, JPEG XL) do not support BUILD_* options because OpenCV does not bundle their source code.
- Update the description to include "write" capabilities for these formats.
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Chromatic aberration correction #27491
Merge with https://github.com/opencv/opencv_extra/pull/1266
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Parent issue: https://github.com/opencv/opencv/issues/27206
Related PR: [#27490](https://github.com/opencv/opencv/pull/27490)
This PR adds chromatic aberration correction in C++ based on calibration data from the python app.
This code adds a function for chromatic aberration correction based on the calibration file (Mat correctChromaticAberration(InputArray image, const String& calibration_file)), and a class ChromaticAberrationCorrector which can be used to correct images of the same camera under the same settings (so for the same calibration data that is initialized in the beginning).
Also, basic functionality and performance tests are added.
js: add C++17 requirement check for Emscripten 4.0.20+ #28179
Close https://github.com/opencv/opencv/issues/28178
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Docs(imgcodecs): clarify animation frame duration units #28176
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Docs-only change. No code or tests affected.
Iterative Phase Correlation #28146
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Dropped OPENCV_FOR_OPENMP_DYNAMIC_DISABLE environment varibale in favor of standard OMP_DYNAMIC #28122
Fixes: https://github.com/opencv/opencv/issues/25717
Replaces: https://github.com/opencv/opencv/pull/28084
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docs(py): add pip-based install tutorial #27943
- New tutorial: `doc/tutorials/py_tutorials/py_setup/py_pip_install/py_pip_install.markdown` with anchor `{#tutorial_py_pip_install}`.
- Python setup TOC updated to include the new page near the top.
- Windows/Ubuntu/Fedora pages: added **Quick start (pip)** callout
- Expanded troubleshooting in the pip tutorial (env mismatch, headless GUI notes, wheel mismatches, Raspberry Pi/ARM guidance).
This aligns with the issue request to make `pip install opencv-python` the default path for Python newcomers and reduce confusion from legacy content.
Fixes#24360
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Building OpenCV with oneAPI #28003
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docs(js): Fix Mat.clone() documentation to use mat_clone() for deep copy #27985
- Update code example to use ```mat_clone()``` instead of ```clone()```
- Add explanatory note about shallow copy issue due to Emscripten embind
Problem
- OpenCV.js documentation shows ```Mat.clone()``` usage, but this method performs shallow copy instead of deep copy due to Emscripten embind limitations, causing unexpected behavior where modifications to cloned matrices affect the original.
Related Issues and PRs
- Fixes documentation aspect of issue #27572
- Related to PR #26643 (js_clone_fix)
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Add macOS support for Orbbec Gemini330 camera #27930
### Description of Changes
Adds macOS support for Orbbec Gemini330 in videoio by integrating OrbbecSDK v2. Completes the non-macOS work in [#27230](https://github.com/opencv/opencv/pull/27230).
#### Motivation
[#27230](https://github.com/opencv/opencv/pull/27230) skipped macOS. On macOS, UVC alone lacks required device controls; OrbbecSDK v2 provides them.
#### Key Change
- macOS: fetch/link OrbbecSDK v2.5.5 (replaces v1.9.4).
- videoio (macOS): switch OrbbecSDK API usage from v1 to v2.
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